Adaptive inverse control of an omni-directional mobile robot

Abstract

The omni-directional mobile robot developed by Shanghai Jiaotong University was introduced. The inverse kinematics and dynamics of the robot were modeled for decoupled control simulation. An adaptive inverse control (AIC) scheme incorporating Dynamic neural network (DNN) controller and conventional feedback controller was presented. Finally, linear and circular trajectories following simulation results demonstrate that the AIC can decouple the dynamic control of the robot motion in the plane to direct rotational speed control of independent wheels, and precise trajectory following is achieved. © Springer-Verlag Berlin Heidelberg 2005.